Minimally invasive surgery operating arm structure based on DE drivers

Abstract

The invention discloses a minimally invasive surgery operating arm structure based on DE drivers. The operating arm structure comprises two bases, multiple connecting rods, multiple connecting rings, the multiple DE drivers and multiple rotating shafts, wherein the multiple connecting rods are connected between the two bases, the bases and the connecting rods are connected through the connecting rings and the rotating shafts arranged in the circumferential direction of the connecting rings, the connecting rods are connected through the connecting rings and the rotating shafts arranged in the circumferential direction of the connecting rings, the DE drivers are connected between the connecting rings and the bases and between the connecting rings and the connecting rods, and the DE drivers are made of flexible biological compatible dielectric elastomer materials. The novel DE drivers made of the intelligent materials are adopted as drive components which directly and efficiently drive the structure, the defects of a traditional minimally invasive surgery operating arm are overcome, and the minimally invasive surgery operating arm structure has active driving and space bending deformation functions. In addition, the minimally invasive surgery operating arm structure is simple in structure and convenient to manufacture, the feasibility of the operating arm structure is verified through model experiments, and if applied practically, the operating arm structure can greatly reduce surgery cost and improve surgery efficiency and has great practical application value.

Description

Technical field: [0001] The invention relates to a minimally invasive surgery operating arm, in particular to a minimally invasive surgery operating arm structure based on a DE driver. Background technique: [0002] With the development of society, people's requirements for the quality of medical services are increasing day by day. Minimally invasive surgery with small wounds, less pain, faster recovery, shorter hospital stay and less bleeding is more and more favored by patients and doctors. The existing minimally invasive surgical arms mainly have two structures: the rigid straight rod surgical arm represented by the da Vinci system and the NOTES (Yeung, Baldwin Po Man, and Terence Gourlay."A technical review of flexible endoscopic multitasking platforms. "International Journal of Surgery10.7(2012):345-354.) is the representative flexible surgical arm. The rigid straight rod surgical arm adopts a purely mechanical structure, which has good rigidity and high output force a...

AI Technical Summary

Problems solved by technology

Neither of the above two structures can meet the above requirements

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